WO2022050320A1 - Système et procédé d'approvisionnement aérien - Google Patents

Système et procédé d'approvisionnement aérien Download PDF

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Publication number
WO2022050320A1
WO2022050320A1 PCT/JP2021/032177 JP2021032177W WO2022050320A1 WO 2022050320 A1 WO2022050320 A1 WO 2022050320A1 JP 2021032177 W JP2021032177 W JP 2021032177W WO 2022050320 A1 WO2022050320 A1 WO 2022050320A1
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WO
WIPO (PCT)
Prior art keywords
robot
aircraft
goods
air transportation
point
Prior art date
Application number
PCT/JP2021/032177
Other languages
English (en)
Japanese (ja)
Inventor
康彦 橋本
Original Assignee
川崎重工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 川崎重工業株式会社 filed Critical 川崎重工業株式会社
Priority to EP21864377.3A priority Critical patent/EP4209417A1/fr
Priority to CN202180053959.XA priority patent/CN116018303A/zh
Priority to US18/024,829 priority patent/US20230312137A1/en
Priority to KR1020237005314A priority patent/KR20230038561A/ko
Publication of WO2022050320A1 publication Critical patent/WO2022050320A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/32—Ground or aircraft-carrier-deck installations for handling freight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/14—Windows; Doors; Hatch covers or access panels; Surrounding frame structures; Canopies; Windscreens accessories therefor, e.g. pressure sensors, water deflectors, hinges, seals, handles, latches, windscreen wipers
    • B64C1/1407—Doors; surrounding frames
    • B64C1/1415—Cargo doors, e.g. incorporating ramps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/80—Transport or storage specially adapted for UAVs by vehicles
    • B64U80/82—Airborne vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2814/00—Indexing codes relating to loading or unloading articles or bulk materials
    • B65G2814/03—Loading or unloading means
    • B65G2814/0398—Loading or unloading means for aircraft

Definitions

  • This disclosure relates to the airlift system and airlift method.
  • the cargo is loaded onto a transport aircraft at the place of origin of the cargo, and the cargo is airlifted to the place of arrival of the cargo by the transport aircraft, and the cargo is airlifted at the place of arrival. Is unloaded from the transport plane.
  • the unloaded cargo is transported to the delivery base by a transport vehicle or the like (see, for example, FIG. 1 of Patent Document 1).
  • This disclosure is made to solve the above-mentioned problems, and aims to provide a material airlift system and a material airlift method capable of carrying out the required work at the arrival point of the aircraft.
  • the goods air transportation system includes a self-propelled robot, an aircraft capable of carrying the goods and the robot, and a state in which the aircraft has landed.
  • the robot having at least a descent / loading device that allows the robot to descend from the aircraft to the ground and to be mounted on the aircraft from the ground is provided, and the robot descending from the aircraft to the ground again. It is configured to be mounted on the aircraft.
  • the air transportation method for goods includes a self-propelled robot, an aircraft capable of carrying the goods and the robot, and a state in which the aircraft is landing or hovering.
  • the use of at least a descent / loading device that allows the robot to descend from the aircraft to the ground and land on the aircraft from the ground, and the robot that descends from the aircraft to the ground is mounted again on the aircraft. Including that.
  • This disclosure has the effect of being able to provide a material airlift system and material airlift method capable of carrying out the required work at the destination of the aircraft.
  • FIG. 1 is a schematic diagram showing a configuration example of the hardware of the material air transportation system according to the first embodiment of the present disclosure.
  • FIG. 2 is a perspective view showing a configuration example of the robot of FIG.
  • FIG. 3 is a functional block diagram showing a configuration example of a control system of the material air transportation system according to the first embodiment of the present disclosure.
  • FIG. 4 is a perspective view showing the operation of the material air transportation system of FIG.
  • FIG. 5A is a perspective view showing another configuration example of the robot of FIG.
  • FIG. 5B is a perspective view showing another configuration example of the robot of FIG.
  • FIG. 6 is a schematic diagram showing a configuration example of the material air transportation system according to the second embodiment of the present disclosure.
  • FIG. 7 is a perspective view showing the operation of the container and the robot of FIG.
  • FIG. 1 is a schematic diagram showing a configuration example of the hardware of the material air transportation system according to the first embodiment of the present disclosure.
  • the material air transportation system 100 of the first embodiment is implemented across an operation area 51, an aircraft arrival area (first point) 52, and a destination area (second point) 53.
  • the material air transportation system 100 includes a robot 1, an aircraft 2, and a robot descent / loading device 3.
  • FIG. 1 shows a state in which the aircraft 2 equipped with the robots 1 and 21 has landed in the aircraft arrival area 52, and the robot descent / loading device 3 provided in the aircraft 2 has been set (deployed) to the used state. There is.
  • the material air transportation system 100 includes a robot operation device 11 as a remote control device, a drone operation device 12, and a display device 13 arranged in the operation area 51.
  • the operation area 51 can be set at any place. For example, it may be set in any of the inside of the aircraft 2, the aircraft arrival area 52, the destination area 53, and a place remote from the departure place of the aircraft 2 other than these places.
  • the delivery destination 22 of the goods 21 airlifted by the aircraft 2 is installed.
  • Examples of the destination 22 include delivery bases, destinations for relief supplies in the disaster area, and the like.
  • the material air transportation system 100 includes a drone 14 equipped with an imager 15 (see FIG. 4).
  • the drone 14 is transported by the aircraft 2 together with the robot 1 (not shown in FIG. 1).
  • Aircraft 2 An airplane and a helicopter are exemplified as the aircraft 2.
  • Aircraft 2 includes civilian freighters, military transport aircraft, passenger aircraft and the like when classified by use.
  • the aircraft 2 is, for example, a freighter.
  • the embodiment in which the aircraft 2 is a helicopter is exemplified in the second embodiment described later.
  • the robot descent / mounting device 3 may be any device that enables the robot 1 to descend from the aircraft 2 to the ground and to be mounted on the aircraft 2 from the ground while the aircraft 2 is landing or hovering.
  • the robot descent / mounting device 3 may be provided on the aircraft 2 or the robot 1, or may be provided separately from these.
  • the robot descent / mounting device 3 is provided on the aircraft 2.
  • the robot descent / mounting device 3 is configured as follows.
  • an opening is provided on the lower surface of the rear portion of the aircraft 2 and a pair of side doors and a lower surface door that open and close while swinging the opening are provided.
  • the pair of side doors extend to the left and right of the airframe, respectively, and are configured to swing up and down around the left and right base ends, respectively.
  • the lower door extends in the rear direction of the machine body and is configured to swing up and down around the front base end portion.
  • the inner surface of the lower surface door is formed flat so that a vehicle including the robot 1 can pass through, and when the lower surface door is opened and the tip of the lower surface door comes into contact with the ground, the inner surface of the lower surface door includes the robot 1. Robot 1 becomes passable. Then, during flight, this opening is closed by a pair of side doors and a bottom door. Therefore, the pair of side doors and the lower surface door constitutes the robot descent / mounting device 3.
  • FIG. 2 is a perspective view showing a configuration example of the robot 1 of FIG.
  • the robot 1 is self-propelled, has a mounting unit 33 for mounting the material 21, and mounts the material 21 on the mounting unit 33 and mounts the material 21.
  • the material 21 placed on the section 33 may be configured so that it can be taken out from the mounting section.
  • the robot 1 is provided with, for example, a dolly 31. Wheels 34 are provided at the base of the carriage 31.
  • a robot arm 32 is provided at one end of the upper surface of the dolly 31.
  • the robot arm 32 is composed of, for example, a vertical articulated arm having 6 degrees of freedom (6 axes), and a suction portion 36 is attached to the tip thereof as an end effector.
  • the end effector can be appropriately selected according to the application of the robot arm 32.
  • the remaining part of the upper surface of the dolly 31 is configured as a mounting portion 33.
  • the mounting portion 33 is provided with a fence or the like (not shown) in order to prevent the loaded material 21 from collapsing.
  • the robot 1 further includes a robot controller 71 and a power source 35.
  • the robot controller 71 controls the operation of the robot 1.
  • the power source 35 is composed of, for example, a secondary battery, a fuel cell, an internal combustion engine, or the like. When the power source 35 is composed of an internal combustion engine, a generator is provided as a power source.
  • the power source 35 here is a secondary battery.
  • the robot 1 is configured to lock the robot arm 32 in a predetermined posture in a stopped state and release the lock when it is activated.
  • FIG. 4 is a perspective view showing the operation of the material air transportation system 100 of FIG.
  • the imager 15 is a device for taking an image of the surroundings of the robot 1.
  • a camera is exemplified as the imager 15. Examples of the camera include a two-dimensional camera, a three-dimensional camera, and an infrared camera.
  • the imager 15 is provided here in the drone 14, but may be provided in a suitable place in the robot 1 or the aircraft 2. Further, the imager 15 may be provided on a support that is placed on the ground. The number of imagers 15 is not limited. The installation mode of the imager 15 may be a combination of these different installation modes.
  • the drone 14 is not particularly limited.
  • the drone 14 is preferably capable of autonomous flight.
  • the drone 14 is provided in a 1: 1 correspondence with the robot 1, but may be provided in a 1: 1 correspondence with the robot 1.
  • the upper end of the robot operator 11 is configured as a gripping portion of an operator, and when the operator moves the grip, the robot arm 32 of the robot 1 is attracted in response to the moving operation.
  • the unit 36 moves.
  • the grip portion is provided with an operation unit of the trolley 31, and the operator can control the traveling of the trolley 31 by operating the operation unit.
  • the drone operator 12 is provided with, for example, a joystick capable of pushing / pulling and tilting, and when the operator pushes / pulls / tilts the joystick, the drone moves according to the operation. Further, the drone operating device 12 is provided with an operation unit of the imager 15, and the operator can control the operation (on / off, zoom, etc.) of the imager 15 by operating this operation unit. ..
  • the display 13 is composed of, for example, a liquid crystal display.
  • the display 13 displays an image captured by the imager 15.
  • FIG. 3 is a functional block diagram showing a configuration example of a control system of the material air transportation system according to the first embodiment of the present disclosure.
  • the material air transportation system 100 includes an operation side controller 61, a robot controller 71, and a drone controller 81.
  • the operation side controller 61 includes a robot operation signal generation unit 62, a drone operation signal generation unit 63, a display control unit 64, and an operation side communication unit 65.
  • the operation side communication unit 65 is composed of a communication device capable of data communication.
  • the robot operation signal generation unit 62, the drone operation signal generation unit 63, and the display control unit 64 are composed of an arithmetic unit having a processor and a memory. These are functional blocks realized by the processor executing the control program stored in the memory in this arithmetic unit.
  • this arithmetic unit is composed of, for example, a microcontroller, an MPU, an FPGA (Field Programmable Gate Array), a PLC (Programmable Logic Controller), or the like. These may be configured by a single arithmetic unit that performs centralized control, or may be configured by a plurality of arithmetic units that perform distributed control.
  • the robot operation signal generation unit 62 generates a robot operation signal in response to the operation of the robot operator 11.
  • the drone operation signal generation unit 63 generates a drone operation signal in response to the operation of the drone operation device 12.
  • the display control unit 64 causes the display 13 to display an image corresponding to the image signal transmitted from the operation side communication unit 65.
  • the operation side communication unit 65 converts the robot operation signal transmitted from the robot operation signal generation unit 62 and the drone operation signal transmitted from the drone operation signal generation unit 63 into wireless communication signals and wirelessly transmits them, and the drone side.
  • the wireless communication signal transmitted from the communication unit 82 is received, converted into an image signal, and transmitted to the display control unit 64.
  • the robot controller 71 includes a robot-side communication unit 72 and a robot control unit 73.
  • the robot-side communication unit 72 is composed of a communication device capable of data communication.
  • the robot control unit 73 is composed of an arithmetic unit having a processor and a memory.
  • the robot control unit 73 is a functional block realized by the processor executing a control program stored in the memory in this arithmetic unit.
  • this arithmetic unit is composed of, for example, a microcontroller, an MPU, an FPGA (Field Programmable Gate Array), a PLC (Programmable Logic Controller), or the like. These may be composed of a single arithmetic unit that performs centralized control, or may be configured by a plurality of arithmetic units that perform distributed control.
  • the robot-side communication unit 72 receives the wireless communication signal transmitted from the operation-side communication unit 65, converts it into a robot operation signal, and transmits this to the robot control unit 73.
  • the robot control unit 73 controls the operation of the robot 1 in response to the robot operation signal.
  • the drone controller 81 includes a drone side communication unit 82, a drone control unit 83, and an imager control unit 84.
  • the drone-side communication unit 82 is composed of a communication device capable of data communication.
  • the drone control unit 83 and the imager control unit 84 are composed of an arithmetic unit having a processor and a memory.
  • the drone control unit 83 and the imager control unit 84 are functional blocks realized by the processor executing a control program stored in the memory in this arithmetic unit.
  • this arithmetic unit is composed of, for example, a microcontroller, an MPU, an FPGA (Field Programmable Gate Array), a PLC (Programmable Logic Controller), or the like. These may be composed of a single arithmetic unit that performs centralized control, or may be configured by a plurality of arithmetic units that perform distributed control.
  • the drone side communication unit 82 receives the wireless communication signal transmitted from the operation side communication unit 65, converts it into a drone operation signal, and transmits this to the drone control unit 83 and the imager control unit 84. Further, the drone-side communication unit 82 converts the image signal transmitted from the imager control unit 84 into a wireless communication signal, and wirelessly transmits the image signal.
  • the drone control unit 83 controls the operation of the drone 14 according to the drone operation signal transmitted from the drone side communication unit 82.
  • the imager control unit 84 controls the operation of the imager 15 according to the drone operation signal (of which the imager operation signal) transmitted from the drone side communication unit 82.
  • the imager control unit 84 also transmits the image signal transmitted from the imager 15 to the drone side communication unit 82.
  • the functions of the elements disclosed herein include general-purpose processors configured or programmed to perform the disclosed functions, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and /. Alternatively, it can be performed using a circuit or processing circuit that includes a combination thereof.
  • a processor is considered a processing circuit or circuit because it includes transistors and other circuits.
  • a "vessel" or “part” is hardware that performs the listed functions or is programmed to perform the listed functions.
  • the hardware may be the hardware disclosed herein, or it may be other known hardware that is programmed or configured to perform the listed functions.
  • the "vessel" or “part” is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.
  • the aircraft 2 is equipped with a material 21, a robot 1, and a drone 14.
  • the robot 1 locks the robot arm 32.
  • the material 21 may be loaded on the robot 1 or may be mounted on the aircraft 2 separately from the robot 1.
  • the material 21 is mounted separately from the robot 1.
  • a plurality of robots 1 are mounted here.
  • Robot 1 and drone 14 correspond 1: 1 as shown in FIG. That is, one operator operates the robot 1 and the drone (and the imager 15) by the robot operating device 11 and the drone operating device 12, respectively, while viewing the image of the display device 13.
  • the operation of the material airlift system 100 material airlift method
  • the operator first activates the robot 1. As a result, the robot arm 32 is unlocked. Next, the drone 14 is positioned at an appropriate position in the aircraft 2, and the robot 1 is loaded with the supplies 21 by the robot arm 32. Next, the operator moves the drone 14 toward the outside of the machine while moving the robot 1 out of the machine through the robot descent / mounting device 3. Then, together with the drone 14, the robot 1 is moved to the destination 22 of the destination area 53. Then, at the destination 22, the operator lowers the material 21 from the robot 1 to a predetermined place by the robot arm 32. After that, if there is a required work, the robot 1 is used to perform the work.
  • the operator moves the robot 1 and the drone 14 to the aircraft arrival area 52. Then, the operator, together with the drone 14, mounts the robot 1 on the aircraft 2 through the robot descent / mounting device 3 (see particularly FIG. 4). After that, when the operator stops the operation of the robot 1, the robot 1 locks the robot arm 32.
  • the aircraft 2 closes the pair of side doors and the bottom door constituting the robot descent / mounting device 3 and takes off.
  • ⁇ Modification 1 ⁇ 5A and 5B are perspective views showing another configuration example of the robot 1 of FIG. Referring to FIGS. 5A and 5B, in the first modification, the robot 1 shown in FIGS. 5A and 5B is used instead of the robot 1 shown in FIG.
  • this robot 1 is further provided with a lift 38 on the carriage 31.
  • a pallet P is placed on the lift 38, and supplies 21 are placed on the pallet P by a robot arm 32. Therefore, the lift 38 constitutes a mounting portion for the material 21.
  • the robot arm 32 holds the material 21 by the suction unit 37.
  • the robot 1 does not convey the material 21 to the destination 22, and only the predetermined work is performed at the destination 22.
  • the robot 1 transports the cargo at the destination 22 to a required place.
  • FIG. 6 is a schematic diagram showing a configuration example of the material air transportation system 200 according to the second embodiment of the present disclosure.
  • FIG. 7 is a perspective view showing the operations of the container 91 and the robot 1 of FIG. In FIG. 7, for the sake of simplicity, the thickness of the wall of the container 91 is omitted, and the driving mechanism of the door 91c is not shown. Further, in FIG. 7, the wire 92 of the winch to which the container 91 is attached is not shown.
  • the material airlift system 200 in the second embodiment is different from the material airlift system 100 in the first embodiment in the following points, and is the same as the material airlift system 100 in the first embodiment in other points. This difference will be described below.
  • the aircraft 2 is a transport helicopter, and the robot 1, the material 21, and the drone 14 (not shown in FIGS. 6 and 7) are suspended from the aircraft 2. It is stored in 91 and transported.
  • Aircraft 2 is equipped with a winch (not shown) that winds up and rewinds (unrolls) the wire 92, and a container 91 is attached to the tip of the wire 92. Aircraft 2 raises and lowers the container 91 by winding and rewinding the wire 92 with a winch. Therefore, the winch (wire 92) and the container 91 constitute the robot descent / mounting device 3.
  • the container 91 includes, for example, a main body 91a and a door 91c made of a rectangular parallelepiped box.
  • the main body 91a has an opening 91b over the entire surface of one side surface, and the door 91c is provided on the side edge of the opening 91b so as to swing in the left-right direction to open and close the opening 91b.
  • the door 91c can be opened and closed by the operator of the aircraft 2 operating a predetermined operation unit.
  • the robot 1 is stored together with the drone 14 in a state where the material 21 is loaded. Then, the container 91 is suspended from the aircraft 2 when the container 91 is attached to the tip of the wire 92 of the winch of the aircraft 2 and the aircraft 2 takes off.
  • the aircraft 2 hoveres when it reaches above the aircraft arrival area 52, rewinds the wire 92 by the winch, and lowers the container 91 to the ground. Then, when the operator of the aircraft 2 operates a predetermined operation unit, the door 91c of the container 91 opens.
  • the operator activates the robot 1 and the drone 14 when the door 91c of the container 91 is opened.
  • the subsequent operations of the robot 1 and the drone 14 are the same as those of the material air transportation system 100 of the first embodiment. Therefore, the description thereof will be omitted.
  • the robot 1 is program-controlled in either the first embodiment (including the first and second modifications) and the second embodiment.
  • the drone operator 12, the display 13, and the drone 14 are omitted.
  • the third embodiment is particularly effective when the work performed by the robot 1 is simple.
  • the aircraft 2 on which the robot 1 landed on the ground and the aircraft 2 on which the robot 1 landed on the ground are mounted on each other. It may be different.
  • the traveling portion of the trolley 31 may be composed of caterpillars instead of the wheels 34. ..
  • the robot 1 and the aircraft 2 may be configured so that the robot 1 gets off the aircraft 2 by itself and rides on the aircraft 2. Specifically, it may be configured as follows.
  • the robot 1 has a winch in place, and an opening for passing the robot 1 is provided on the lower surface of the aircraft 2.
  • This opening is provided in a portion of the aircraft 2 that allows the robot arm 32 to be folded and passed between the lower surface of the aircraft 2 and the ground when the robot 1 descends to the ground.
  • a hook hook at the tip of the winch wire is provided at an appropriate position around this opening.
  • This hanging portion is provided at a position where the suction portion 36 can reach when the robot arm 32 is extended when the robot 1 descends to the ground.
  • the robot 1 hooks the hook on the hook by the suction portion 6, passes through the opening by the winch, and descends to the ground, and the suction portion 6 removes the hook from the hook.
  • the robot arm 32 is extended from the ground and the hook of the winch wire is hung on the hook by the suction portion 36. Then, the winch passes through the opening, is placed on the aircraft 2, and the hook is removed from the hook by the suction portion 36. In this way, the robot 1 can get off the aircraft 2 by itself and can be mounted on the aircraft 2.
  • the posture of the robot 1 can be stabilized by arranging the winch and the corresponding hanging portion at three or more locations around the center of gravity of the robot 1 in the horizontal direction.
  • the material air transportation system 100, 200 includes a self-propelled robot 1, an aircraft 2 capable of carrying the material 21 and the robot 1, and a state in which the aircraft 2 has landed.
  • the robot 1 is provided with a descent / loading device 3 that enables the robot 1 to descend from the aircraft 2 to the ground and to be mounted on the aircraft 2 from the ground while hovering, and descends from the aircraft 2 to the ground.
  • the robot 1 is configured to be mounted on the aircraft 2 again.
  • Aircraft 2 includes civilian freighters, military transport aircraft, passenger aircraft, etc. when classified by use.
  • “Supplies 21" includes cargo, baggage, and relief supplies.
  • “Mounting” means both when the mounted object is stored inside the aircraft and when the mounted object is mounted outside the aircraft.
  • Examples of the form in which the mounted object is mounted on the outside of the aircraft 2 include a form in which the mounted object is suspended from the aircraft 2, a form in which the mounted object is fixed to the aircraft 2 with a fixture, and the like.
  • Robot 1 descends means both the case where the robot 1 descends by itself using the descent / mounting device 3 and the case where the robot 1 is lowered by the descending / mounting device 3.
  • Robot 1 is mounted means both a case where the robot 1 is mounted by itself using the descent / mounting device 3 and a case where the robot 1 is mounted by the descent / mounting device 3.
  • the robot 1 is mounted on the aircraft 2 again means that the aircraft 2 on which the robot 1 is dismounted and the aircraft 2 on which the robot 1 is mounted again may be the same or different.
  • the robot 1 descends from the aircraft 2 to the ground with the supplies 21 loaded on itself, or after the robot 1 descends to the ground, the supplies 21 mounted on the aircraft 2 are loaded on itself and self-propelled.
  • the goods 21 can be transported by ground to the delivery base.
  • the robot 1 and the type of the end effector it is possible to carry out various tasks required at the destination of the aircraft 2.
  • the robot 1 that has landed on the ground from the aircraft 2 is mounted on the aircraft 2 again. Therefore, it is possible to carry out the required work at the destination of the aircraft 2.
  • the robot 1 carries out the goods 21 from the aircraft 2 in a state of landing at the first point 52 or hovering above the first point 52, and then carries out the goods by self-propelling. 21 may be transported to a second point 53 away from the first point 52, and the transported material 21 may be configured to be placed at the second point 53.
  • the robot 1 can carry out the material 21 from the aircraft 2 and deliver the material 21 to the point where the material 21 is required.
  • the robot 1 may be configured to lock itself in a state of being mounted on the aircraft 2, release the lock by itself when getting off the aircraft 2, and then self-propell.
  • the robot 1 can be transported on the outbound route in a safe state, and can easily self-propell after transportation.
  • the robot 1 may be configured to be mounted on the aircraft 2 and then locked by itself, or locked by itself and then mounted on the aircraft 2.
  • the robot 1 can be transported on the return route in a safe state.
  • the robot 1 may be configured so that it can self-propell to a predetermined work point and perform work at the work point.
  • the robot 1 can perform the required work at the arrival point of the aircraft 2 as a predetermined work.
  • the robot 1 is provided with a mounting portion 33 for mounting the material 21, and a portion of the robot 1 that handles the material 21 places the material 21 on the previously described placement unit 33 and the mounting portion 33.
  • the material 21 mounted on the section 33 may be configured so that it can be taken out from the mounting section 33.
  • the robot 1 loads the material 21 mounted on the aircraft 2 on its own mounting portion 33 by a portion that handles the material 21 (for example, a robot arm 32 having an end effector attached to the tip). After self-propelling, the material 21 can be unloaded from the loading unit 33 to the destination by the portion that handles the material 21.
  • a portion that handles the material 21 for example, a robot arm 32 having an end effector attached to the tip.
  • the material air transportation system 100, 200 may further include a remote controller (11) for the operator to remotely control the robot 1.
  • the operator can remotely control the robot 1.
  • the material air transportation system 100, 200 includes an imager 15 for capturing an image of the surroundings of the robot 1 and a display 13 for displaying an image captured by the imager 15 to the operator. You may also have more.
  • the operator can remotely control the robot 1 while viewing the image of the surrounding situation of the robot 1 displayed on the display device 13.
  • the robot 1 may be configured to be program-controlled.
  • the robot 1 can be operated automatically.
  • the supplies 21 may be cargo, baggage, or relief supplies.
  • cargo, baggage, or relief supplies can be delivered to the required points by air transportation by aircraft 2 and ground transportation by robot 1.
  • the material air transportation method includes a self-propelled robot 1, an aircraft 2 capable of carrying the material 21 and the robot 1, and a state in which the aircraft 2 has landed or hovered.
  • a self-propelled robot 1 an aircraft 2 capable of carrying the material 21 and the robot 1
  • a state in which the aircraft 2 has landed or hovered In this state, at least the descent / loading device 3 that enables the robot 1 to descend from the aircraft 2 to the ground and to be mounted on the aircraft 2 from the ground is used, and the robot 1 descends from the aircraft 2 to the ground. Includes that the robot 1 is mounted on the aircraft 2 again.
  • the required work can be performed at the destination of the aircraft 2.
  • Robot 2 Aircraft 3 Robot descent / mounting device 11 Robot operator 12 Drone operator 13 Display 14 Drone 15 Imager 21 Supplies 22 Destination 31 Carriage 32 Robot arm 33 Mounting part 34 Wheel 35 Power source 36, 37 Suction part 51 Operation area 52 Aircraft arrival area 53 Destination area 71 Robot controller 91 Container 92 Wire 100,200 Material air transportation system

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Multimedia (AREA)

Abstract

Un système d'approvisionnement aérien comprend : un robot automoteur (1); un aéronef (2), sur lequel un approvisionnement (21) et le robot (1) peuvent être chargés; un dispositif de descente/chargement (3) qui permet à au moins un robot (1) de descendre de l'aéronef (2) au sol et de monter dans l'aéronef (2) à partir du sol dans une situation où l'aéronef (2) a atterri ou est en vol stationnaire. Le robot (1) qui est descendu de l'aéronef (2) sur le sol peut être de nouveau chargé sur l'aéronef (2).
PCT/JP2021/032177 2020-09-04 2021-09-01 Système et procédé d'approvisionnement aérien WO2022050320A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP21864377.3A EP4209417A1 (fr) 2020-09-04 2021-09-01 Système et procédé d'approvisionnement aérien
CN202180053959.XA CN116018303A (zh) 2020-09-04 2021-09-01 物资空运系统和物资空运方法
US18/024,829 US20230312137A1 (en) 2020-09-04 2021-09-01 Commodities airlifting system and method of airlifting commodities
KR1020237005314A KR20230038561A (ko) 2020-09-04 2021-09-01 물자 공수 시스템 및 물자 공수 방법

Applications Claiming Priority (2)

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JP2020149452A JP7491782B2 (ja) 2020-09-04 2020-09-04 物資空輸システム及び物資空輸方法
JP2020-149452 2020-09-04

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WO2022050320A1 true WO2022050320A1 (fr) 2022-03-10

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EP (1) EP4209417A1 (fr)
JP (1) JP7491782B2 (fr)
KR (1) KR20230038561A (fr)
CN (1) CN116018303A (fr)
WO (1) WO2022050320A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016533999A (ja) * 2013-09-23 2016-11-04 アマゾン テクノロジーズ インコーポレイテッド 在庫管理システム及び履行システムにおける施設間輸送
JP2018121267A (ja) * 2017-01-27 2018-08-02 セイコーエプソン株式会社 表示装置、及び、表示装置の制御方法
US20200122834A1 (en) * 2018-10-22 2020-04-23 Goodrich Corporation Multi-robots system for cargo handling
JP2021086291A (ja) * 2019-11-26 2021-06-03 トヨタ自動車株式会社 情報処理装置、情報処理方法、およびプログラム

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20020087535A (ko) 2001-05-14 2002-11-23 삼성전자 주식회사 화학증기증착 쳄버의 개스공급장치

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016533999A (ja) * 2013-09-23 2016-11-04 アマゾン テクノロジーズ インコーポレイテッド 在庫管理システム及び履行システムにおける施設間輸送
JP2018121267A (ja) * 2017-01-27 2018-08-02 セイコーエプソン株式会社 表示装置、及び、表示装置の制御方法
US20200122834A1 (en) * 2018-10-22 2020-04-23 Goodrich Corporation Multi-robots system for cargo handling
JP2021086291A (ja) * 2019-11-26 2021-06-03 トヨタ自動車株式会社 情報処理装置、情報処理方法、およびプログラム

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US20230312137A1 (en) 2023-10-05
JP7491782B2 (ja) 2024-05-28
EP4209417A1 (fr) 2023-07-12
KR20230038561A (ko) 2023-03-20
CN116018303A (zh) 2023-04-25
JP2022043927A (ja) 2022-03-16

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